''' '''
'''
ISC License
Copyright (c) 2016, Autonomous Vehicle Systems Lab, University of Colorado at Boulder
Permission to use, copy, modify, and/or distribute this software for any
purpose with or without fee is hereby granted, provided that the above
copyright notice and this permission notice appear in all copies.
THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
'''
#
# Integrated Unit Test Script
# Purpose: Run a test of the reaction wheel sim module
# Author: John Alcorn
# Creation Date: November 14, 2016
#
import pytest
import sys, os, inspect
import numpy as np
import ctypes
import math
import csv
import logging
filename = inspect.getframeinfo(inspect.currentframe()).filename
path = os.path.dirname(os.path.abspath(filename))
from Basilisk.utilities import macros
from Basilisk.utilities import unitTestSupport
from Basilisk.simulation import reactionWheelStateEffector
# methods
def listStack(vec,simStopTime,unitProcRate):
# returns a list duplicated the number of times needed to be consistent with module output
return [vec] * int(simStopTime/(float(unitProcRate)/float(macros.sec2nano(1))))
def writeNewRWCmds(self,u_cmd,numRW):
NewRWCmdsVec = reactionWheelStateEffector.RWCmdVector(numRW) # create standard vector from SWIG template (see .i file)
cmds = reactionWheelStateEffector.RWCmdSimMsg()
for i in range(0,numRW):
cmds.u_cmd = u_cmd[i]
NewRWCmdsVec[i] = cmds # set the data
self.NewRWCmds = NewRWCmdsVec # set in module
def defaultReactionWheel():
RW = reactionWheelStateEffector.RWConfigSimMsg()
RW.rWB_B = [[0.],[0.],[0.]]
RW.gsHat_B = [[1.],[0.],[0.]]
RW.w2Hat0_B = [[0.],[1.],[0.]]
RW.w3Hat0_B = [[0.],[0.],[1.]]
RW.RWModel = 0
return RW
def asEigen(v):
out = []
for i in range(0,len(v)):
out.append([v[i]])
return out
# uncomment this line is this test is to be skipped in the global unit test run, adjust message as needed
# @pytest.mark.skipif(conditionstring)
# uncomment this line if this test has an expected failure, adjust message as needed
# The following 'parametrize' function decorator provides the parameters and expected results for each
# of the multiple test runs for this test.
[docs]@pytest.mark.parametrize("useFlag, testCase", [
(False,'saturation'),
(False,'minimum'),
(False,'speedSaturation')
])
# provide a unique test method name, starting with test_
def test_unitSimReactionWheel(show_plots, useFlag, testCase):
"""Module Unit Test"""
# each test method requires a single assert method to be called
[testResults, testMessage] = unitSimReactionWheel(show_plots, useFlag, testCase)
assert testResults < 1, testMessage
def unitSimReactionWheel(show_plots, useFlag, testCase):
testFail = False
testFailCount = 0 # zero unit test result counter
testMessages = [] # create empty array to store test log messages
# configure module
ReactionWheel = reactionWheelStateEffector.ReactionWheelStateEffector()
ReactionWheel.ModelTag = "ReactionWheel"
numRW = 2
RWs = []
for i in range(0,numRW):
RWs.append(defaultReactionWheel())
expOut = dict() # expected output
print(testCase)
if testCase == 'basic':
pass
elif testCase == 'saturation':
RWs.append(defaultReactionWheel())
RWs[0].u_max = 1.
RWs[1].u_max = 2.
RWs[2].u_max = 2.
u_cmd = [-1.2,1.5,2.5]
writeNewRWCmds(ReactionWheel,u_cmd,len(RWs))
expOut['u_current'] = [-1.,1.5,2.]
elif testCase == 'minimum':
RWs[0].u_min = .1
RWs[1].u_min = .0
u_cmd = [-.09,0.0001]
writeNewRWCmds(ReactionWheel,u_cmd,len(RWs))
expOut['u_current'] = [0.,0.0001]
elif testCase == 'speedSaturation':
RWs.append(defaultReactionWheel())
RWs[0].Omega_max = 50.
RWs[1].Omega_max = 50.
RWs[2].Omega_max = 50.
RWs[0].Omega = 49.
RWs[1].Omega = 51.
RWs[2].Omega = -52.
u_cmd = [1.5,1.5,1.5]
writeNewRWCmds(ReactionWheel,u_cmd,len(RWs))
expOut['u_current'] = [1.5,0.0,0.0]
else:
raise Exception('invalid test case')
for i in range(0,len(RWs)):
ReactionWheel.addReactionWheel(RWs[i])
ReactionWheel.ConfigureRWRequests(0.)
if not 'accuracy' in vars():
accuracy = 1e-10
for outputName in list(expOut.keys()):
for i in range(0,len(RWs)):
if expOut[outputName][i] != getattr(ReactionWheel.ReactionWheelData[i],outputName):
print("expected: " + str(expOut[outputName][i]))
print("got :" + str(getattr(ReactionWheel.ReactionWheelData[i],outputName)))
testFail = 1
break
if testFail:
break
if testFail:
testFailCount += 1
testMessages.append("FAILED: " + ReactionWheel.ModelTag + " Module failed " +
outputName + " unit test")
np.set_printoptions(precision=16)
# print out success message if no errors were found
if testFailCount == 0:
print("PASSED ")
colorText = 'ForestGreen'
passedText = r'\textcolor{' + colorText + '}{' + "PASSED" + '}'
else:
colorText = 'Red'
passedText = r'\textcolor{' + colorText + '}{' + "FAILED" + '}'
# Write some snippets for AutoTex
snippetName = testCase + 'PassFail'
unitTestSupport.writeTeXSnippet(snippetName, passedText, path)
# each test method requires a single assert method to be called
# this check below just makes sure no sub-test failures were found
return [testFailCount, ''.join(testMessages)]
# This statement below ensures that the unit test script can be run as a
# stand-along python script
if __name__ == "__main__":
test_unitSimReactionWheel(
False, # show_plots
False, # useFlag
'speedSaturation' # testCase
)